Optimal Control Design Using an H2 Method for the Glovebox Integrated Microgravity Isolation Technology (g-LIMIT)

Abstract This paper presents robust and optimal control methods to suppress vibrations of flexible payloads carried by robotic systems. A new improved estimator in discrete-time H2 optimal control design based on the Kalman Filter predictor form is developed here. Two control design methods using state-space models, LQR and H2 Optimal Design, in discrete-time domain are applied and compared. The manipulator joint encoders and the wrist-mounted six-degree-of-freedom force/torque sensor provide the control feedback. A complete dynamic model of the robot/payload system is taken into account to synthesize the controllers. Experimental verifications of both methods are performed using a Mitsubishi five-degree-of-freedom robot manipulator that carries a flexible beam. It is shown that both methods damp out the vibrations of the payload very effectively.

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Some optimal control design under uncertainty

Proceeding of the International Conference "Optimal Control and Differential Games" dedicated to the 110th anniversary of L. S. Pontryagin ◽

10.4213/proc22997 ◽

2018 ◽

Keyword(s):

Optimal Control ◽

Control Design ◽

Design Under Uncertainty

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Nonlinear optimal control design experiments using the inverted pendulum on a cart paradigm

1999 European Control Conference (ECC) ◽

10.23919/ecc.1999.7099299 ◽

1999 ◽

Author(s):

N. Safari-Shad ◽

N. Abedi ◽

S. Dehsarvi

Keyword(s):

Optimal Control ◽

Inverted Pendulum ◽

Control Design ◽

Nonlinear Optimal Control ◽

Design Experiments

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Optimal Control of Turbine Engines

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.3426410 ◽

1979 ◽

Vol 101 (2) ◽

pp. 117-126 ◽

Cited By ~ 6

Author(s):

R. L. DeHoff ◽

W. Earl Hall

Keyword(s):

Optimal Control ◽

Optimal Design ◽

Control Design ◽

Multivariable Control ◽

Turbine Engines ◽

Linear Modeling ◽

Turbofan Engine ◽

Turbine Engine ◽

Design Procedures ◽

Modeling Techniques

Multivariable control design for turbine engines has been studied for over 20 years. In the last 10 years, the application of linear, optimal design techniques has produced a number of turbine engine controllers. A group of these design procedures is described and a discussion of the procedures’ performance, complexity and implementation is presented. The design of a full-envelope controller for the F100 turbofan engine based on linear, optimal synthesis and locally linear modeling techniques is discussed. A perspective of optimal control design for turbine engines is presented and the future is examined.

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